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<a href="#pub-methods">Public Member Functions</a> &#124;
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<div class="title">ContactImpulse&lt; T &gt; Class Template Reference</div>  </div>
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<p><code>#include &lt;<a class="el" href="../../da/daa/_contact_impulse_8h_source.html">ContactImpulse.h</a>&gt;</code></p>
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  <img id="dynsection-0-trigger" src="../../closed.png" alt="+"/> Inheritance diagram for ContactImpulse&lt; T &gt;:</div>
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<div class="center"><img src="../../da/d94/class_contact_impulse__inherit__graph.png" border="0" usemap="#_contact_impulse_3_01_t_01_4_inherit__map" alt="Inheritance graph"/></div>
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<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:ace70a8c31ed807e7a3523c4a017b41c6"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d2/dc6/class_contact_impulse.html#ace70a8c31ed807e7a3523c4a017b41c6">ContactImpulse</a> (<a class="el" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a>&lt; T &gt; *model)</td></tr>
<tr class="separator:ace70a8c31ed807e7a3523c4a017b41c6"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3d26dbb0964d7bc37a9573e703b0b0b9"><td class="memItemLeft" align="right" valign="top">virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d2/dc6/class_contact_impulse.html#a3d26dbb0964d7bc37a9573e703b0b0b9">~ContactImpulse</a> ()</td></tr>
<tr class="separator:a3d26dbb0964d7bc37a9573e703b0b0b9"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4513e5bb2a4bc15a7569e57e6ea4a410"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d2/dc6/class_contact_impulse.html#a4513e5bb2a4bc15a7569e57e6ea4a410">UpdateExternalForces</a> (T K, T D, T dt)</td></tr>
<tr class="separator:a4513e5bb2a4bc15a7569e57e6ea4a410"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2687e2f75714f9c4f8eb445d221a72ac"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d2/dc6/class_contact_impulse.html#a2687e2f75714f9c4f8eb445d221a72ac">UpdateQdot</a> (<a class="el" href="../../de/d75/struct_f_b_model_state.html">FBModelState</a>&lt; T &gt; &amp;state)</td></tr>
<tr class="separator:a2687e2f75714f9c4f8eb445d221a72ac"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_class_contact_constraint"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_class_contact_constraint')"><img src="../../closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="../../d7/d6c/class_contact_constraint.html">ContactConstraint&lt; T &gt;</a></td></tr>
<tr class="memitem:ad8522d960d6669a66de9d1e5ffe6d8a2 inherit pub_methods_class_contact_constraint"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d7/d6c/class_contact_constraint.html#ad8522d960d6669a66de9d1e5ffe6d8a2">ContactConstraint</a> (<a class="el" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a>&lt; T &gt; *model)</td></tr>
<tr class="separator:ad8522d960d6669a66de9d1e5ffe6d8a2 inherit pub_methods_class_contact_constraint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae795ddbfbd28d87f6e0dfb9e9f8ef838 inherit pub_methods_class_contact_constraint"><td class="memItemLeft" align="right" valign="top">virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d7/d6c/class_contact_constraint.html#ae795ddbfbd28d87f6e0dfb9e9f8ef838">~ContactConstraint</a> ()</td></tr>
<tr class="separator:ae795ddbfbd28d87f6e0dfb9e9f8ef838 inherit pub_methods_class_contact_constraint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8ac93d67428573f388f0a349502eb63f inherit pub_methods_class_contact_constraint"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d7/d6c/class_contact_constraint.html#a8ac93d67428573f388f0a349502eb63f">AddCollision</a> (<a class="el" href="../../df/dc6/class_collision.html">Collision</a>&lt; T &gt; *collision)</td></tr>
<tr class="separator:a8ac93d67428573f388f0a349502eb63f inherit pub_methods_class_contact_constraint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7a96c50ca8f3f2128d753fe2fc26e21c inherit pub_methods_class_contact_constraint"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="../../d9/d8e/cpp_types_8h.html#a078e1eaa8a3af13cef27a0a8d0c1302e">vectorAligned</a>&lt; <a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a>&lt; T &gt; &gt; &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d7/d6c/class_contact_constraint.html#a7a96c50ca8f3f2128d753fe2fc26e21c">getContactPosList</a> ()</td></tr>
<tr class="separator:a7a96c50ca8f3f2128d753fe2fc26e21c inherit pub_methods_class_contact_constraint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a17a5cecdbd67cf1fed3fa0272c0522eb inherit pub_methods_class_contact_constraint"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a>&lt; T &gt; &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d7/d6c/class_contact_constraint.html#a17a5cecdbd67cf1fed3fa0272c0522eb">getGCForce</a> (size_t idx)</td></tr>
<tr class="separator:a17a5cecdbd67cf1fed3fa0272c0522eb inherit pub_methods_class_contact_constraint"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-methods"></a>
Protected Member Functions</h2></td></tr>
<tr class="memitem:a35e8700c162b46af46495eb0e93f7b62"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d2/dc6/class_contact_impulse.html#a35e8700c162b46af46495eb0e93f7b62">_UpdateVelocity</a> (<a class="el" href="../../d9/d8e/cpp_types_8h.html#ae2e5a0a178a2c528d8aa939f85db7a3e">DVec</a>&lt; T &gt; &amp;qdot)</td></tr>
<tr class="separator:a35e8700c162b46af46495eb0e93f7b62"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afd1ed9e46beb5b9085d264b51140e1ca"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d2/dc6/class_contact_impulse.html#afd1ed9e46beb5b9085d264b51140e1ca">_UpdateQdotOneDirection</a> (size_t idx, const <a class="el" href="../../d9/d8e/cpp_types_8h.html#a078e1eaa8a3af13cef27a0a8d0c1302e">vectorAligned</a>&lt; <a class="el" href="../../d9/d8e/cpp_types_8h.html#a190e396ab8cb0eb974ad2a5195edcb24">D3Mat</a>&lt; T &gt; &gt; &amp;Jc_list, const T *lambda_list, const <a class="el" href="../../d9/d8e/cpp_types_8h.html#a078e1eaa8a3af13cef27a0a8d0c1302e">vectorAligned</a>&lt; <a class="el" href="../../d9/d8e/cpp_types_8h.html#ae2e5a0a178a2c528d8aa939f85db7a3e">DVec</a>&lt; T &gt; &gt; AinvB_list, const T *des_vel_list, const T *min_list, const T *max_list, <a class="el" href="../../d9/d8e/cpp_types_8h.html#ae2e5a0a178a2c528d8aa939f85db7a3e">DVec</a>&lt; T &gt; &amp;qdot)</td></tr>
<tr class="separator:afd1ed9e46beb5b9085d264b51140e1ca"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_methods_class_contact_constraint"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_class_contact_constraint')"><img src="../../closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="../../d7/d6c/class_contact_constraint.html">ContactConstraint&lt; T &gt;</a></td></tr>
<tr class="memitem:ab5d51a50a75c85c530968b2d07b538fe inherit pro_methods_class_contact_constraint"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d7/d6c/class_contact_constraint.html#ab5d51a50a75c85c530968b2d07b538fe">_groundContactWithOffset</a> (T K, T D)</td></tr>
<tr class="separator:ab5d51a50a75c85c530968b2d07b538fe inherit pro_methods_class_contact_constraint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab571431122630a97f79c2b111ad170bb inherit pro_methods_class_contact_constraint"><td class="memItemLeft" align="right" valign="top">size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d7/d6c/class_contact_constraint.html#ab571431122630a97f79c2b111ad170bb">_CheckContact</a> ()</td></tr>
<tr class="separator:ab571431122630a97f79c2b111ad170bb inherit pro_methods_class_contact_constraint"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-attribs"></a>
Protected Attributes</h2></td></tr>
<tr class="memitem:a382c70240fc40ce866e47080a13dbb10"><td class="memItemLeft" align="right" valign="top">size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d2/dc6/class_contact_impulse.html#a382c70240fc40ce866e47080a13dbb10">_iter_lim</a></td></tr>
<tr class="separator:a382c70240fc40ce866e47080a13dbb10"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9fb06016ca246858e8ee17285c92a296"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d2/dc6/class_contact_impulse.html#a9fb06016ca246858e8ee17285c92a296">_b_debug</a></td></tr>
<tr class="separator:a9fb06016ca246858e8ee17285c92a296"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a89eaadd1f1e0c0b66800e24c647fe008"><td class="memItemLeft" align="right" valign="top">T&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d2/dc6/class_contact_impulse.html#a89eaadd1f1e0c0b66800e24c647fe008">_tol</a> = 1.e-6</td></tr>
<tr class="separator:a89eaadd1f1e0c0b66800e24c647fe008"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aab96f25b17b3f32968e3387e7321e75f"><td class="memItemLeft" align="right" valign="top">T&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d2/dc6/class_contact_impulse.html#aab96f25b17b3f32968e3387e7321e75f">_penetration_recover_ratio</a></td></tr>
<tr class="separator:aab96f25b17b3f32968e3387e7321e75f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9afca4ee71d3095d3e75577cd1eaf432"><td class="memItemLeft" align="right" valign="top">size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d2/dc6/class_contact_impulse.html#a9afca4ee71d3095d3e75577cd1eaf432">_nDof</a></td></tr>
<tr class="separator:a9afca4ee71d3095d3e75577cd1eaf432"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afb8b216f5a6bc5becb846d579e5deb3b"><td class="memItemLeft" align="right" valign="top">size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d2/dc6/class_contact_impulse.html#afb8b216f5a6bc5becb846d579e5deb3b">_iter_sum</a></td></tr>
<tr class="separator:afb8b216f5a6bc5becb846d579e5deb3b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_attribs_class_contact_constraint"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_class_contact_constraint')"><img src="../../closed.png" alt="-"/>&#160;Protected Attributes inherited from <a class="el" href="../../d7/d6c/class_contact_constraint.html">ContactConstraint&lt; T &gt;</a></td></tr>
<tr class="memitem:a62c13bcf46c4c8bcb57bef2922130c68 inherit pro_attribs_class_contact_constraint"><td class="memItemLeft" align="right" valign="top"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a078e1eaa8a3af13cef27a0a8d0c1302e">vectorAligned</a>&lt; <a class="el" href="../../d9/d8e/cpp_types_8h.html#a3ed2d7a1fdebc191497c0cc0ab0a870b">Vec2</a>&lt; T &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d7/d6c/class_contact_constraint.html#a62c13bcf46c4c8bcb57bef2922130c68">deflectionRate</a></td></tr>
<tr class="separator:a62c13bcf46c4c8bcb57bef2922130c68 inherit pro_attribs_class_contact_constraint"><td class="memSeparator" colspan="2">&#160;</td></tr>
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<tr class="memitem:a06400ae9c1cbe246b8d5c048a22e3f58 inherit pro_attribs_class_contact_constraint"><td class="memItemLeft" align="right" valign="top">size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d7/d6c/class_contact_constraint.html#a06400ae9c1cbe246b8d5c048a22e3f58">_nContact</a></td></tr>
<tr class="separator:a06400ae9c1cbe246b8d5c048a22e3f58 inherit pro_attribs_class_contact_constraint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a64b3671da5a4c056dc83cac9580abefd inherit pro_attribs_class_contact_constraint"><td class="memItemLeft" align="right" valign="top">size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d7/d6c/class_contact_constraint.html#a64b3671da5a4c056dc83cac9580abefd">_nCollision</a></td></tr>
<tr class="separator:a64b3671da5a4c056dc83cac9580abefd inherit pro_attribs_class_contact_constraint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1960c9e63fdef6b115a00f812a33d8ab inherit pro_attribs_class_contact_constraint"><td class="memItemLeft" align="right" valign="top"><a class="el" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a>&lt; T &gt; *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d7/d6c/class_contact_constraint.html#a1960c9e63fdef6b115a00f812a33d8ab">_model</a></td></tr>
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<tr class="memitem:a6adad1db7d60e53899d1400ac687df1d inherit pro_attribs_class_contact_constraint"><td class="memItemLeft" align="right" valign="top">std::vector&lt; <a class="el" href="../../df/dc6/class_collision.html">Collision</a>&lt; T &gt; * &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d7/d6c/class_contact_constraint.html#a6adad1db7d60e53899d1400ac687df1d">_collision_list</a></td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pri-attribs"></a>
Private Attributes</h2></td></tr>
<tr class="memitem:a37cd34760a5ce1471ee8ea00609f2dd1"><td class="memItemLeft" align="right" valign="top">T&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d2/dc6/class_contact_impulse.html#a37cd34760a5ce1471ee8ea00609f2dd1">_dt</a></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><h3>template&lt;typename T&gt;<br />
class ContactImpulse&lt; T &gt;</h3>


<p>Definition at line <a class="el" href="../../da/daa/_contact_impulse_8h_source.html#l00015">15</a> of file <a class="el" href="../../da/daa/_contact_impulse_8h_source.html">ContactImpulse.h</a>.</p>
</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
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          <td class="memname"><a class="el" href="../../d2/dc6/class_contact_impulse.html">ContactImpulse</a>&lt; T &gt;::<a class="el" href="../../d2/dc6/class_contact_impulse.html">ContactImpulse</a> </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a>&lt; T &gt; *&#160;</td>
          <td class="paramname"><em>model</em></td><td>)</td>
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<p>Definition at line <a class="el" href="../../da/daa/_contact_impulse_8h_source.html#l00017">17</a> of file <a class="el" href="../../da/daa/_contact_impulse_8h_source.html">ContactImpulse.h</a>.</p>

<p>References <a class="el" href="../../da/daa/_contact_impulse_8h_source.html#l00049">ContactImpulse&lt; T &gt;::_b_debug</a>, <a class="el" href="../../da/daa/_contact_impulse_8h_source.html#l00048">ContactImpulse&lt; T &gt;::_iter_lim</a>, and <a class="el" href="../../da/daa/_contact_impulse_8h_source.html#l00052">ContactImpulse&lt; T &gt;::_nDof</a>.</p>
<div class="fragment"><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;                                              : <a class="code" href="../../d7/d6c/class_contact_constraint.html">ContactConstraint&lt;T&gt;</a>(model) {</div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;    <a class="code" href="../../d2/dc6/class_contact_impulse.html#a382c70240fc40ce866e47080a13dbb10">_iter_lim</a> = 10;</div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;    <a class="code" href="../../d2/dc6/class_contact_impulse.html#a9afca4ee71d3095d3e75577cd1eaf432">_nDof</a> = CC::_model-&gt;_nDof;</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;    <a class="code" href="../../d2/dc6/class_contact_impulse.html#a9fb06016ca246858e8ee17285c92a296">_b_debug</a> = <span class="keyword">false</span>;</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;  }</div><div class="ttc" id="class_contact_impulse_html_a382c70240fc40ce866e47080a13dbb10"><div class="ttname"><a href="../../d2/dc6/class_contact_impulse.html#a382c70240fc40ce866e47080a13dbb10">ContactImpulse::_iter_lim</a></div><div class="ttdeci">size_t _iter_lim</div><div class="ttdef"><b>Definition:</b> <a href="../../da/daa/_contact_impulse_8h_source.html#l00048">ContactImpulse.h:48</a></div></div>
<div class="ttc" id="class_contact_constraint_html"><div class="ttname"><a href="../../d7/d6c/class_contact_constraint.html">ContactConstraint</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d79/_contact_constraint_8h_source.html#l00020">ContactConstraint.h:20</a></div></div>
<div class="ttc" id="class_contact_impulse_html_a9fb06016ca246858e8ee17285c92a296"><div class="ttname"><a href="../../d2/dc6/class_contact_impulse.html#a9fb06016ca246858e8ee17285c92a296">ContactImpulse::_b_debug</a></div><div class="ttdeci">bool _b_debug</div><div class="ttdef"><b>Definition:</b> <a href="../../da/daa/_contact_impulse_8h_source.html#l00049">ContactImpulse.h:49</a></div></div>
<div class="ttc" id="class_contact_impulse_html_a9afca4ee71d3095d3e75577cd1eaf432"><div class="ttname"><a href="../../d2/dc6/class_contact_impulse.html#a9afca4ee71d3095d3e75577cd1eaf432">ContactImpulse::_nDof</a></div><div class="ttdeci">size_t _nDof</div><div class="ttdef"><b>Definition:</b> <a href="../../da/daa/_contact_impulse_8h_source.html#l00052">ContactImpulse.h:52</a></div></div>
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          <td class="memname">virtual <a class="el" href="../../d2/dc6/class_contact_impulse.html">ContactImpulse</a>&lt; T &gt;::~<a class="el" href="../../d2/dc6/class_contact_impulse.html">ContactImpulse</a> </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
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<p>Definition at line <a class="el" href="../../da/daa/_contact_impulse_8h_source.html#l00022">22</a> of file <a class="el" href="../../da/daa/_contact_impulse_8h_source.html">ContactImpulse.h</a>.</p>
<div class="fragment"><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;{}</div></div><!-- fragment -->
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<h2 class="groupheader">Member Function Documentation</h2>
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          <td class="memname">void <a class="el" href="../../d2/dc6/class_contact_impulse.html">ContactImpulse</a>&lt; T &gt;::_UpdateQdotOneDirection </td>
          <td>(</td>
          <td class="paramtype">size_t&#160;</td>
          <td class="paramname"><em>idx</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="../../d9/d8e/cpp_types_8h.html#a078e1eaa8a3af13cef27a0a8d0c1302e">vectorAligned</a>&lt; <a class="el" href="../../d9/d8e/cpp_types_8h.html#a190e396ab8cb0eb974ad2a5195edcb24">D3Mat</a>&lt; T &gt; &gt; &amp;&#160;</td>
          <td class="paramname"><em>Jc_list</em>, </td>
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          <td class="paramtype">const <a class="el" href="../../d9/d8e/cpp_types_8h.html#a078e1eaa8a3af13cef27a0a8d0c1302e">vectorAligned</a>&lt; <a class="el" href="../../d9/d8e/cpp_types_8h.html#ae2e5a0a178a2c528d8aa939f85db7a3e">DVec</a>&lt; T &gt; &gt;&#160;</td>
          <td class="paramname"><em>AinvB_list</em>, </td>
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          <td class="paramname"><em>des_vel_list</em>, </td>
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          <td class="paramtype">const T *&#160;</td>
          <td class="paramname"><em>min_list</em>, </td>
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          <td class="paramtype">const T *&#160;</td>
          <td class="paramname"><em>max_list</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../d9/d8e/cpp_types_8h.html#ae2e5a0a178a2c528d8aa939f85db7a3e">DVec</a>&lt; T &gt; &amp;&#160;</td>
          <td class="paramname"><em>qdot</em>&#160;</td>
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<p>Definition at line <a class="el" href="../../da/d75/_contact_impulse_8cpp_source.html#l00149">149</a> of file <a class="el" href="../../da/d75/_contact_impulse_8cpp_source.html">ContactImpulse.cpp</a>.</p>
<div class="fragment"><div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;                                                         {</div><div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;  T dforce, pre_force, cp_vel, dforce_sum;</div><div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> iter(0); iter &lt; <a class="code" href="../../d2/dc6/class_contact_impulse.html#a382c70240fc40ce866e47080a13dbb10">_iter_lim</a>; ++iter) {</div><div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;    dforce_sum = 0;</div><div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i(0); i &lt; CC::_nContact; ++i) {</div><div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;      cp_vel = (Jc_list[i].block(idx, 0, 1, <a class="code" href="../../d2/dc6/class_contact_impulse.html#a9afca4ee71d3095d3e75577cd1eaf432">_nDof</a>) * qdot)(0, 0);</div><div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;</div><div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;      dforce = (des_vel_list[i] - cp_vel) * lambda_list[i];</div><div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;      pre_force = CC::_cp_local_force_list[i][idx];</div><div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;      CC::_cp_local_force_list[i][idx] =</div><div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;          std::max(min_list[i], std::min(pre_force + dforce, max_list[i]));</div><div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;</div><div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;      dforce = CC::_cp_local_force_list[i][idx] - pre_force;</div><div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;</div><div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;      qdot += (AinvB_list[i] * dforce);</div><div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;      dforce_sum += fabs(dforce);</div><div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;    }</div><div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;    <span class="keywordflow">if</span> (dforce_sum &lt; <a class="code" href="../../d2/dc6/class_contact_impulse.html#a89eaadd1f1e0c0b66800e24c647fe008">_tol</a>) {</div><div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;      <a class="code" href="../../d2/dc6/class_contact_impulse.html#afb8b216f5a6bc5becb846d579e5deb3b">_iter_sum</a> += iter;</div><div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;      <span class="comment">// printf(&quot;dforce sum is small enough: %f\n&quot;, dforce_sum);</span></div><div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;      <span class="keywordflow">break</span>;</div><div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;    }</div><div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;  }</div><div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;}</div><div class="ttc" id="class_contact_impulse_html_a382c70240fc40ce866e47080a13dbb10"><div class="ttname"><a href="../../d2/dc6/class_contact_impulse.html#a382c70240fc40ce866e47080a13dbb10">ContactImpulse::_iter_lim</a></div><div class="ttdeci">size_t _iter_lim</div><div class="ttdef"><b>Definition:</b> <a href="../../da/daa/_contact_impulse_8h_source.html#l00048">ContactImpulse.h:48</a></div></div>
<div class="ttc" id="class_contact_impulse_html_afb8b216f5a6bc5becb846d579e5deb3b"><div class="ttname"><a href="../../d2/dc6/class_contact_impulse.html#afb8b216f5a6bc5becb846d579e5deb3b">ContactImpulse::_iter_sum</a></div><div class="ttdeci">size_t _iter_sum</div><div class="ttdef"><b>Definition:</b> <a href="../../da/daa/_contact_impulse_8h_source.html#l00060">ContactImpulse.h:60</a></div></div>
<div class="ttc" id="class_contact_impulse_html_a89eaadd1f1e0c0b66800e24c647fe008"><div class="ttname"><a href="../../d2/dc6/class_contact_impulse.html#a89eaadd1f1e0c0b66800e24c647fe008">ContactImpulse::_tol</a></div><div class="ttdeci">T _tol</div><div class="ttdef"><b>Definition:</b> <a href="../../da/daa/_contact_impulse_8h_source.html#l00050">ContactImpulse.h:50</a></div></div>
<div class="ttc" id="class_contact_impulse_html_a9afca4ee71d3095d3e75577cd1eaf432"><div class="ttname"><a href="../../d2/dc6/class_contact_impulse.html#a9afca4ee71d3095d3e75577cd1eaf432">ContactImpulse::_nDof</a></div><div class="ttdeci">size_t _nDof</div><div class="ttdef"><b>Definition:</b> <a href="../../da/daa/_contact_impulse_8h_source.html#l00052">ContactImpulse.h:52</a></div></div>
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          <td class="memname">void <a class="el" href="../../d2/dc6/class_contact_impulse.html">ContactImpulse</a>&lt; T &gt;::_UpdateVelocity </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../d9/d8e/cpp_types_8h.html#ae2e5a0a178a2c528d8aa939f85db7a3e">DVec</a>&lt; T &gt; &amp;&#160;</td>
          <td class="paramname"><em>qdot</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Definition at line <a class="el" href="../../da/d75/_contact_impulse_8cpp_source.html#l00039">39</a> of file <a class="el" href="../../da/d75/_contact_impulse_8cpp_source.html">ContactImpulse.cpp</a>.</p>
<div class="fragment"><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;                                                     {</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;  T* lambda_list_x = <span class="keyword">new</span> T[CC::_nContact];</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;  T* lambda_list_y = <span class="keyword">new</span> T[CC::_nContact];</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;  T* lambda_list_z = <span class="keyword">new</span> T[CC::_nContact];</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;  T* des_vel_list_z = <span class="keyword">new</span> T[CC::_nContact];</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;  T* des_vel_list_tan = <span class="keyword">new</span> T[CC::_nContact];</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  T* min_list_z = <span class="keyword">new</span> T[CC::_nContact];</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  T* max_list_z = <span class="keyword">new</span> T[CC::_nContact];</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  T* min_list_tan = <span class="keyword">new</span> T[CC::_nContact];</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  T* max_list_tan = <span class="keyword">new</span> T[CC::_nContact];</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a078e1eaa8a3af13cef27a0a8d0c1302e">vectorAligned&lt;DVec&lt;T&gt;</a> &gt; AinvB_list_x(CC::_nContact);</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a078e1eaa8a3af13cef27a0a8d0c1302e">vectorAligned&lt;DVec&lt;T&gt;</a> &gt; AinvB_list_y(CC::_nContact);</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a078e1eaa8a3af13cef27a0a8d0c1302e">vectorAligned&lt;DVec&lt;T&gt;</a> &gt; AinvB_list_z(CC::_nContact);</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a078e1eaa8a3af13cef27a0a8d0c1302e">vectorAligned&lt;D3Mat&lt;T&gt;</a> &gt; Jc_list(CC::_nContact);</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  <span class="comment">// For check</span></div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a078e1eaa8a3af13cef27a0a8d0c1302e">vectorAligned&lt;Vec3&lt;T&gt;</a> &gt; cp_vel_list(CC::_nContact);</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#ae2e5a0a178a2c528d8aa939f85db7a3e">DVec&lt;T&gt;</a> AinvB;</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a> cp_local_vel;</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a> direction;</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  CC::_model-&gt;contactJacobians();</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  <span class="comment">// Prepare Matrix and Vector</span></div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i(0); i &lt; CC::_nContact; ++i) {</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    <span class="comment">// Lambda &amp; Ainv*J&#39;</span></div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    lambda_list_x[i] = CC::_model-&gt;applyTestForce(</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;        CC::_idx_list[i], CC::_cp_frame_list[i].<span class="keyword">template</span> block&lt;3, 1&gt;(0, 0),</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;        AinvB_list_x[i]);</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    lambda_list_x[i] = 1. / lambda_list_x[i];</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    lambda_list_y[i] = CC::_model-&gt;applyTestForce(</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;        CC::_idx_list[i], CC::_cp_frame_list[i].<span class="keyword">template</span> block&lt;3, 1&gt;(0, 1),</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;        AinvB_list_y[i]);</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    lambda_list_y[i] = 1. / lambda_list_y[i];</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    lambda_list_z[i] = CC::_model-&gt;applyTestForce(</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;        CC::_idx_list[i], CC::_cp_frame_list[i].<span class="keyword">template</span> block&lt;3, 1&gt;(0, 2),</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;        AinvB_list_z[i]);</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    lambda_list_z[i] = 1. / lambda_list_z[i];</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;    <span class="comment">// Local Velocity</span></div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    cp_local_vel =</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;        CC::_cp_frame_list[i].transpose() * CC::_model-&gt;_vGC[CC::_idx_list[i]];</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;    <span class="comment">// Desired Velocity</span></div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;    des_vel_list_tan[i] = 0.;</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;    <span class="keywordflow">if</span> (cp_local_vel[2] &lt; 0.) {</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;      des_vel_list_z[i] =</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;          -CC::_cp_resti_list[i] * cp_local_vel[2] -</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;          <a class="code" href="../../d2/dc6/class_contact_impulse.html#aab96f25b17b3f32968e3387e7321e75f">_penetration_recover_ratio</a> * CC::_cp_penetration_list[i];</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;    } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;      des_vel_list_z[i] =</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;          std::max(cp_local_vel[2],</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;                   -<a class="code" href="../../d2/dc6/class_contact_impulse.html#aab96f25b17b3f32968e3387e7321e75f">_penetration_recover_ratio</a> * CC::_cp_penetration_list[i]);</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;    }</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;    <span class="comment">// Contact Jacobian</span></div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;    Jc_list[i] =</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;        CC::_cp_frame_list[i].transpose() * CC::_model-&gt;_Jc[CC::_idx_list[i]];</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    min_list_z[i] = 0.;</div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;    max_list_z[i] = 1.e5;</div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;  }</div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;</div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;  <span class="comment">// Update Velocity &amp; Find Impulse Force</span></div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> iter(0); iter &lt; <a class="code" href="../../d2/dc6/class_contact_impulse.html#a382c70240fc40ce866e47080a13dbb10">_iter_lim</a>; ++iter) {</div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;    <a class="code" href="../../d2/dc6/class_contact_impulse.html#afb8b216f5a6bc5becb846d579e5deb3b">_iter_sum</a> = 0;</div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;    <span class="comment">// Normal (Z) *********************************************************</span></div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;    <a class="code" href="../../d2/dc6/class_contact_impulse.html#afd1ed9e46beb5b9085d264b51140e1ca">_UpdateQdotOneDirection</a>(2, Jc_list, lambda_list_z, AinvB_list_z,</div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;                            des_vel_list_z, min_list_z, max_list_z, qdot);</div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;</div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;    <span class="comment">// X ******************************************************************</span></div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i(0); i &lt; CC::_nContact; ++i) {</div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;      max_list_tan[i] = CC::_cp_mu_list[i] * CC::_cp_local_force_list[i][2];</div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;      min_list_tan[i] = -max_list_tan[i];</div><div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;    }</div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;    <a class="code" href="../../d2/dc6/class_contact_impulse.html#afd1ed9e46beb5b9085d264b51140e1ca">_UpdateQdotOneDirection</a>(0, Jc_list, lambda_list_x, AinvB_list_x,</div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;                            des_vel_list_tan, min_list_tan, max_list_tan, qdot);</div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;</div><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;    <span class="comment">// Y ******************************************************************</span></div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;    <a class="code" href="../../d2/dc6/class_contact_impulse.html#afd1ed9e46beb5b9085d264b51140e1ca">_UpdateQdotOneDirection</a>(1, Jc_list, lambda_list_y, AinvB_list_y,</div><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;                            des_vel_list_tan, min_list_tan, max_list_tan, qdot);</div><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;</div><div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;    <span class="keywordflow">if</span> (<a class="code" href="../../d2/dc6/class_contact_impulse.html#afb8b216f5a6bc5becb846d579e5deb3b">_iter_sum</a> &lt; 5) {</div><div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;      <span class="comment">// printf(&quot;converged: %lu \n&quot;, _iter_sum);</span></div><div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;      <span class="keywordflow">break</span>;</div><div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;    }</div><div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;    <a class="code" href="../../d2/dc6/class_contact_impulse.html#afb8b216f5a6bc5becb846d579e5deb3b">_iter_sum</a> = 0;</div><div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;  }</div><div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;</div><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;  <span class="keyword">delete</span>[] lambda_list_x;</div><div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;  <span class="keyword">delete</span>[] lambda_list_y;</div><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;  <span class="keyword">delete</span>[] lambda_list_z;</div><div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;</div><div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;  <span class="keyword">delete</span>[] des_vel_list_z;</div><div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;  <span class="keyword">delete</span>[] des_vel_list_tan;</div><div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;</div><div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;  <span class="keyword">delete</span>[] min_list_z;</div><div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;  <span class="keyword">delete</span>[] max_list_z;</div><div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;</div><div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;  <span class="keyword">delete</span>[] min_list_tan;</div><div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;  <span class="keyword">delete</span>[] max_list_tan;</div><div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;}</div><div class="ttc" id="class_contact_impulse_html_afd1ed9e46beb5b9085d264b51140e1ca"><div class="ttname"><a href="../../d2/dc6/class_contact_impulse.html#afd1ed9e46beb5b9085d264b51140e1ca">ContactImpulse::_UpdateQdotOneDirection</a></div><div class="ttdeci">void _UpdateQdotOneDirection(size_t idx, const vectorAligned&lt; D3Mat&lt; T &gt; &gt; &amp;Jc_list, const T *lambda_list, const vectorAligned&lt; DVec&lt; T &gt; &gt; AinvB_list, const T *des_vel_list, const T *min_list, const T *max_list, DVec&lt; T &gt; &amp;qdot)</div><div class="ttdef"><b>Definition:</b> <a href="../../da/d75/_contact_impulse_8cpp_source.html#l00149">ContactImpulse.cpp:149</a></div></div>
<div class="ttc" id="class_contact_impulse_html_a382c70240fc40ce866e47080a13dbb10"><div class="ttname"><a href="../../d2/dc6/class_contact_impulse.html#a382c70240fc40ce866e47080a13dbb10">ContactImpulse::_iter_lim</a></div><div class="ttdeci">size_t _iter_lim</div><div class="ttdef"><b>Definition:</b> <a href="../../da/daa/_contact_impulse_8h_source.html#l00048">ContactImpulse.h:48</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a6f07728c866b15ff0676a9b2ebfd2ba6"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 1 &gt; Vec3</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00026">cppTypes.h:26</a></div></div>
<div class="ttc" id="class_contact_impulse_html_afb8b216f5a6bc5becb846d579e5deb3b"><div class="ttname"><a href="../../d2/dc6/class_contact_impulse.html#afb8b216f5a6bc5becb846d579e5deb3b">ContactImpulse::_iter_sum</a></div><div class="ttdeci">size_t _iter_sum</div><div class="ttdef"><b>Definition:</b> <a href="../../da/daa/_contact_impulse_8h_source.html#l00060">ContactImpulse.h:60</a></div></div>
<div class="ttc" id="class_contact_impulse_html_aab96f25b17b3f32968e3387e7321e75f"><div class="ttname"><a href="../../d2/dc6/class_contact_impulse.html#aab96f25b17b3f32968e3387e7321e75f">ContactImpulse::_penetration_recover_ratio</a></div><div class="ttdeci">T _penetration_recover_ratio</div><div class="ttdef"><b>Definition:</b> <a href="../../da/daa/_contact_impulse_8h_source.html#l00051">ContactImpulse.h:51</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a078e1eaa8a3af13cef27a0a8d0c1302e"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a078e1eaa8a3af13cef27a0a8d0c1302e">vectorAligned</a></div><div class="ttdeci">typename std::vector&lt; T, Eigen::aligned_allocator&lt; T &gt;&gt; vectorAligned</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00118">cppTypes.h:118</a></div></div>
<div class="ttc" id="cpp_types_8h_html_ae2e5a0a178a2c528d8aa939f85db7a3e"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#ae2e5a0a178a2c528d8aa939f85db7a3e">DVec</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, Eigen::Dynamic, 1 &gt; DVec</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00102">cppTypes.h:102</a></div></div>
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</div>
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<a class="anchor" id="a4513e5bb2a4bc15a7569e57e6ea4a410"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename T &gt; </div>
<table class="mlabels">
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      <table class="memname">
        <tr>
          <td class="memname">virtual void <a class="el" href="../../d2/dc6/class_contact_impulse.html">ContactImpulse</a>&lt; T &gt;::UpdateExternalForces </td>
          <td>(</td>
          <td class="paramtype">T&#160;</td>
          <td class="paramname"><em>K</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">T&#160;</td>
          <td class="paramname"><em>D</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">T&#160;</td>
          <td class="paramname"><em>dt</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
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<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">virtual</span></span>  </td>
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<p>Used for spring damper based contact constraint method, therefore almost empty function in this class. Only used to update dt and penetration recovery ratio </p><dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">dt</td><td>: time step (sec) </td></tr>
    <tr><td class="paramname">(member)</td><td>penetration_recover_ratio : push contact point if there is penetration. This is fake input and currently set by 0. </td></tr>
  </table>
  </dd>
</dl>

<p>Implements <a class="el" href="../../d7/d6c/class_contact_constraint.html#a6b89e1a3aafb28f26a14a77d294fb062">ContactConstraint&lt; T &gt;</a>.</p>

<p>Definition at line <a class="el" href="../../da/daa/_contact_impulse_8h_source.html#l00032">32</a> of file <a class="el" href="../../da/daa/_contact_impulse_8h_source.html">ContactImpulse.h</a>.</p>

<p>References <a class="el" href="../../da/daa/_contact_impulse_8h_source.html#l00063">ContactImpulse&lt; T &gt;::_dt</a>, <a class="el" href="../../da/daa/_contact_impulse_8h_source.html#l00051">ContactImpulse&lt; T &gt;::_penetration_recover_ratio</a>, and <a class="el" href="../../da/d75/_contact_impulse_8cpp_source.html#l00005">ContactImpulse&lt; T &gt;::UpdateQdot()</a>.</p>
<div class="fragment"><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;                                                    {</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;    (void)K;</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;    (void)D;</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;    <span class="comment">// Set penetration recovery ration here</span></div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;    <a class="code" href="../../d2/dc6/class_contact_impulse.html#aab96f25b17b3f32968e3387e7321e75f">_penetration_recover_ratio</a> = 0.0 / dt;</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;    <a class="code" href="../../d2/dc6/class_contact_impulse.html#a37cd34760a5ce1471ee8ea00609f2dd1">_dt</a> = dt;</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;  }</div><div class="ttc" id="class_contact_impulse_html_a37cd34760a5ce1471ee8ea00609f2dd1"><div class="ttname"><a href="../../d2/dc6/class_contact_impulse.html#a37cd34760a5ce1471ee8ea00609f2dd1">ContactImpulse::_dt</a></div><div class="ttdeci">T _dt</div><div class="ttdef"><b>Definition:</b> <a href="../../da/daa/_contact_impulse_8h_source.html#l00063">ContactImpulse.h:63</a></div></div>
<div class="ttc" id="class_contact_impulse_html_aab96f25b17b3f32968e3387e7321e75f"><div class="ttname"><a href="../../d2/dc6/class_contact_impulse.html#aab96f25b17b3f32968e3387e7321e75f">ContactImpulse::_penetration_recover_ratio</a></div><div class="ttdeci">T _penetration_recover_ratio</div><div class="ttdef"><b>Definition:</b> <a href="../../da/daa/_contact_impulse_8h_source.html#l00051">ContactImpulse.h:51</a></div></div>
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<p>Update velocities including floating base and joints. </p><dl class="params"><dt>Parameters</dt><dd>
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    <tr><td class="paramname">state</td><td>: full state of a floating system full state </td></tr>
  </table>
  </dd>
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<dl class="section return"><dt>Returns</dt><dd>state : update velocity </dd></dl>

<p>Implements <a class="el" href="../../d7/d6c/class_contact_constraint.html#a16cbace2441dccfd4b0754fbf7a640f9">ContactConstraint&lt; T &gt;</a>.</p>

<p>Definition at line <a class="el" href="../../da/d75/_contact_impulse_8cpp_source.html#l00005">5</a> of file <a class="el" href="../../da/d75/_contact_impulse_8cpp_source.html">ContactImpulse.cpp</a>.</p>

<p>References <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html#l00042">FBModelState&lt; T &gt;::bodyVelocity</a>, and <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html#l00044">FBModelState&lt; T &gt;::qd</a>.</p>
<div class="fragment"><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;                                                         {</div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;  CC::_nContact = CC::_CheckContact();</div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;  <span class="keywordflow">if</span> (CC::_nContact &gt; 0) {</div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;    <a class="code" href="../../d9/d8e/cpp_types_8h.html#ae2e5a0a178a2c528d8aa939f85db7a3e">DVec&lt;T&gt;</a> qdot(<a class="code" href="../../d2/dc6/class_contact_impulse.html#a9afca4ee71d3095d3e75577cd1eaf432">_nDof</a>);</div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;</div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i(0); i &lt; 6; ++i) {</div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;      qdot[i] = state.<a class="code" href="../../de/d75/struct_f_b_model_state.html#abf1fc0221d6b92d103193524a2046ffc">bodyVelocity</a>[i];</div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;    }</div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i(0); i &lt; <a class="code" href="../../d2/dc6/class_contact_impulse.html#a9afca4ee71d3095d3e75577cd1eaf432">_nDof</a> - 6; ++i) {</div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;      qdot[i + 6] = state.<a class="code" href="../../de/d75/struct_f_b_model_state.html#a97f42a6014fc5d9fd3dc22f7158099f4">qd</a>[i];</div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;    }</div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;</div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;    <a class="code" href="../../d2/dc6/class_contact_impulse.html#a35e8700c162b46af46495eb0e93f7b62">_UpdateVelocity</a>(qdot);</div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;</div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i(0); i &lt; 6; ++i) {</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;      state.<a class="code" href="../../de/d75/struct_f_b_model_state.html#abf1fc0221d6b92d103193524a2046ffc">bodyVelocity</a>[i] = qdot[i];</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;    }</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i(0); i &lt; _nDof - 6; ++i) {</div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;      state.<a class="code" href="../../de/d75/struct_f_b_model_state.html#a97f42a6014fc5d9fd3dc22f7158099f4">qd</a>[i] = qdot[i + 6];</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;    }</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;    <span class="comment">// Update contact force w.r.t. global frame</span></div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;    <span class="comment">// This is not neccessary for dynamics, but</span></div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;    <span class="comment">// the global contact forces are used for</span></div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;    <span class="comment">// graphics</span></div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i(0); i &lt; CC::_nContact; ++i) {</div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;      <span class="comment">// Divide by dt to convert impulses to forces</span></div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;      CC::_cp_force_list[CC::_idx_list[i]] =</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;          CC::_cp_frame_list[i] * CC::_cp_local_force_list[i] / <a class="code" href="../../d2/dc6/class_contact_impulse.html#a37cd34760a5ce1471ee8ea00609f2dd1">_dt</a>;</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;    }</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;  }</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;}</div><div class="ttc" id="class_contact_impulse_html_a35e8700c162b46af46495eb0e93f7b62"><div class="ttname"><a href="../../d2/dc6/class_contact_impulse.html#a35e8700c162b46af46495eb0e93f7b62">ContactImpulse::_UpdateVelocity</a></div><div class="ttdeci">void _UpdateVelocity(DVec&lt; T &gt; &amp;qdot)</div><div class="ttdef"><b>Definition:</b> <a href="../../da/d75/_contact_impulse_8cpp_source.html#l00039">ContactImpulse.cpp:39</a></div></div>
<div class="ttc" id="struct_f_b_model_state_html_abf1fc0221d6b92d103193524a2046ffc"><div class="ttname"><a href="../../de/d75/struct_f_b_model_state.html#abf1fc0221d6b92d103193524a2046ffc">FBModelState::bodyVelocity</a></div><div class="ttdeci">SVec&lt; T &gt; bodyVelocity</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00042">FloatingBaseModel.h:42</a></div></div>
<div class="ttc" id="struct_f_b_model_state_html_a97f42a6014fc5d9fd3dc22f7158099f4"><div class="ttname"><a href="../../de/d75/struct_f_b_model_state.html#a97f42a6014fc5d9fd3dc22f7158099f4">FBModelState::qd</a></div><div class="ttdeci">DVec&lt; T &gt; qd</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00044">FloatingBaseModel.h:44</a></div></div>
<div class="ttc" id="class_contact_impulse_html_a37cd34760a5ce1471ee8ea00609f2dd1"><div class="ttname"><a href="../../d2/dc6/class_contact_impulse.html#a37cd34760a5ce1471ee8ea00609f2dd1">ContactImpulse::_dt</a></div><div class="ttdeci">T _dt</div><div class="ttdef"><b>Definition:</b> <a href="../../da/daa/_contact_impulse_8h_source.html#l00063">ContactImpulse.h:63</a></div></div>
<div class="ttc" id="cpp_types_8h_html_ae2e5a0a178a2c528d8aa939f85db7a3e"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#ae2e5a0a178a2c528d8aa939f85db7a3e">DVec</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, Eigen::Dynamic, 1 &gt; DVec</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00102">cppTypes.h:102</a></div></div>
<div class="ttc" id="class_contact_impulse_html_a9afca4ee71d3095d3e75577cd1eaf432"><div class="ttname"><a href="../../d2/dc6/class_contact_impulse.html#a9afca4ee71d3095d3e75577cd1eaf432">ContactImpulse::_nDof</a></div><div class="ttdeci">size_t _nDof</div><div class="ttdef"><b>Definition:</b> <a href="../../da/daa/_contact_impulse_8h_source.html#l00052">ContactImpulse.h:52</a></div></div>
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<p>Definition at line <a class="el" href="../../da/daa/_contact_impulse_8h_source.html#l00049">49</a> of file <a class="el" href="../../da/daa/_contact_impulse_8h_source.html">ContactImpulse.h</a>.</p>

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<p>Definition at line <a class="el" href="../../da/daa/_contact_impulse_8h_source.html#l00063">63</a> of file <a class="el" href="../../da/daa/_contact_impulse_8h_source.html">ContactImpulse.h</a>.</p>

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<p>Definition at line <a class="el" href="../../da/daa/_contact_impulse_8h_source.html#l00048">48</a> of file <a class="el" href="../../da/daa/_contact_impulse_8h_source.html">ContactImpulse.h</a>.</p>

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<p>Definition at line <a class="el" href="../../da/daa/_contact_impulse_8h_source.html#l00052">52</a> of file <a class="el" href="../../da/daa/_contact_impulse_8h_source.html">ContactImpulse.h</a>.</p>

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<p>Definition at line <a class="el" href="../../da/daa/_contact_impulse_8h_source.html#l00051">51</a> of file <a class="el" href="../../da/daa/_contact_impulse_8h_source.html">ContactImpulse.h</a>.</p>

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<p>Definition at line <a class="el" href="../../da/daa/_contact_impulse_8h_source.html#l00050">50</a> of file <a class="el" href="../../da/daa/_contact_impulse_8h_source.html">ContactImpulse.h</a>.</p>

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